Adaptive Admittance Control for Conflict-free Climbing of a Dual-arm Robot in Space Stations

Traditional fixed admittance control methods suffer from significant internal force conflicts in dual-arm space robots during climbing maneuvers, which can damage actuators and destabilize the system. In this paper, an adaptive admittance climbing control method is proposed to reduce such force conflicts in dual-arm space robots. First, the kinematic and dynamic models of the dual-arm space robot are introduced. Next, a slavemaster control architecture is implemented to coordinate robotic arms, where one arm operates in position mode while the other is controlled by an adaptive admittance controller. Additionally, an adaptive admittance control method based on a backpropagation network is proposed to manage the slave arm. The virtual impedance gains are adjusted online using the backpropagation network. By dynamically tuning the impedance parameters, force conflicts during climbing tasks can be significantly reduced. Simulations in MATLAB/Simulink environment demonstrate the effectiveness of the proposed method.